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Emergency Stop

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chk
2026-06-12 18:16:15 +02:00
parent 6fc6605080
commit 59d4cf7df4
17 changed files with 1098 additions and 540 deletions
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39
robot/RobotConfig.js
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@@ -13,9 +13,12 @@ const DEFAULTS = {
kinematics: { type: 'arm3segmentlinearx', l1: 250, l2: 264, l3: 100 },
motion: { defaultFeedrate: 1000, speedMode: 'legacy', useSpeedCalc: false },
controllers: {
base: { ip: 'fluidNcBase.local', port: 2300, protocol: 'telnet', axes: ['x', 'y', 'z'], heartbeatInterval: 10000 },
elbow: { ip: 'fluidNcEllbow.local', port: 5000, protocol: 'telnet', axes: ['a', null, null], heartbeatInterval: 10000 },
hand: { ip: 'fluidNcHand.local', port: 5000, protocol: 'telnet', axes: ['c', 'e', 'b'], heartbeatInterval: 10000 }
base: { ip: 'fluidNcBase.local', port: 2300, protocol: 'telnet', axes: ['x', 'y', 'z'], heartbeatInterval: 10000 },
elbow: { ip: 'fluidNcEllbow.local', port: 5000, protocol: 'telnet', axes: ['a', null, null], heartbeatInterval: 10000 },
hand: { ip: 'fluidNcHand.local', port: 5000, protocol: 'telnet', axes: ['c', 'e', 'b'], heartbeatInterval: 10000 },
// Shelly Smart Plug: schaltet Strom für Emergency Stop.
// url: null → deaktiviert, wenn nicht in robot.json konfiguriert.
emergencyStop: { protocol: 'shelly', url: null }
}
};
@@ -82,16 +85,26 @@ function load(fsModule, processEnv, consoleObj) {
for (const key of Object.keys(DEFAULTS.controllers)) {
const def = DEFAULTS.controllers[key];
const cfg = jsonControllers[key] ?? {};
const envIpKey = ENV_IP_MAP[key];
controllers[key] = {
ip: env_[envIpKey] ?? cfg.ip ?? def.ip,
port: cfg.port ?? def.port,
protocol: cfg.protocol ?? def.protocol,
axes: cfg.axes ?? def.axes,
// Heartbeat-Intervall in ms: wie oft '?' gesendet wird.
// deadTimeout = 2 × heartbeatInterval (zwei verpasste Heartbeats → Verbindung tot).
heartbeatInterval: cfg.heartbeatInterval ?? def.heartbeatInterval,
};
if (def.protocol === 'shelly') {
// Shelly Smart Plug: nur protocol + url nötig (kein IP/Port/Axes/Heartbeat)
controllers[key] = {
protocol: cfg.protocol ?? def.protocol,
url: cfg.url ?? def.url,
};
} else {
// Telnet (FluidNC): IP + Port + Achsen + Heartbeat
const envIpKey = ENV_IP_MAP[key];
controllers[key] = {
ip: env_[envIpKey] ?? cfg.ip ?? def.ip,
port: cfg.port ?? def.port,
protocol: cfg.protocol ?? def.protocol,
axes: cfg.axes ?? def.axes,
// Heartbeat-Intervall in ms: wie oft '?' gesendet wird.
// deadTimeout = 2 × heartbeatInterval (zwei verpasste Heartbeats → Verbindung tot).
heartbeatInterval: cfg.heartbeatInterval ?? def.heartbeatInterval,
};
}
}
function axesByController(key) {